
const DH = {}

// Kinematics	theta [rad]	a [m]	    d [m]	    alpha [rad]	
// Joint 1	  0	          0         0.089159	π/2
// Joint 2	  0	          -0.425	  0	        0	
// Joint 3	  0	          -0.39225	0	        0	
// Joint 4	  0           0	        0.10915	  π/2	
// Joint 5	  0           0	        0.09465	  -π/2	
// Joint 6	  0           0	        0.0823	   0	
// 旋转循序: ZYX

DH.UR5 = 
[
  [ 0,  0,       0.089159,  Math.PI/2 ], 
  [ 0, -0.425,   0,         0         ],
  [ 0, -0.39225, 0,         0         ],
  [ 0,  0,       0.10915,   Math.PI/2 ], 
  [ 0,  0,       0.09465,  -Math.PI/2 ], 
  [ 0,  0,       0.0823,    0         ],
];

export default DH;